mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 21:50:34 +08:00
Daniel Agar
01bcc47fb1
- set vision attitude error filter uninitialized if vision data stops - ev error filter is only compiled when ev config is selected Co-authored-by: bresch <brescianimathieu@gmail.com>
107 lines
4.3 KiB
C++
107 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ev_control.cpp
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* Control functions for ekf external vision control
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*/
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#include "ekf.h"
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void Ekf::controlExternalVisionFusion()
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{
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_ev_pos_b_est.predict(_dt_ekf_avg);
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// Check for new external vision data
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extVisionSample ev_sample;
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if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_time_delayed_us, &ev_sample)) {
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bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter);
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// determine if we should use the horizontal position observations
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bool quality_sufficient = (_params.ev_quality_minimum <= 0) || (ev_sample.quality >= _params.ev_quality_minimum);
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const bool starting_conditions_passing = quality_sufficient
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&& ((ev_sample.time_us - _ev_sample_prev.time_us) < EV_MAX_INTERVAL)
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&& ((_params.ev_quality_minimum <= 0) || (_ev_sample_prev.quality >= _params.ev_quality_minimum)) // previous quality sufficient
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&& ((_params.ev_quality_minimum <= 0) || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient
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&& isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL);
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updateEvAttitudeErrorFilter(ev_sample, ev_reset);
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controlEvYawFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw);
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controlEvVelFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
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controlEvPosFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos);
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controlEvHeightFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_hgt);
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if (quality_sufficient) {
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_ev_sample_prev = ev_sample;
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}
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// record corresponding yaw state for future EV delta heading innovation (logging only)
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_ev_yaw_pred_prev = getEulerYaw(_state.quat_nominal);
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} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw
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|| _control_status.flags.ev_hgt)
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&& isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) {
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// Turn off EV fusion mode if no data has been received
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stopEvPosFusion();
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stopEvVelFusion();
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stopEvYawFusion();
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stopEvHgtFusion();
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_ev_q_error_initialized = false;
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_warning_events.flags.vision_data_stopped = true;
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ECL_WARN("vision data stopped");
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}
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}
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void Ekf::updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset)
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{
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const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
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if (!q_error.isAllFinite()) {
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return;
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}
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if (!_ev_q_error_initialized || ev_reset) {
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_ev_q_error_filt.reset(q_error);
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_ev_q_error_initialized = true;
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} else {
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_ev_q_error_filt.update(q_error);
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}
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}
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